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Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator

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  • Zhengcai Cao
  • Dong Zhang
  • Biao Hu
  • Jinguo Liu

Abstract

This work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot forward and along a desired path. The efficiency and accuracy of the proposed path following method is researched. In addition, a control framework that includes a CPG network, a locomotion efficiency optimization algorithm, and an adaptive path following method is designed to control snake-like robots move in different environments. Simulation and experimental results are presented to illustrate the performance of the proposed locomotion optimization method and adaptive path following controller for snake-like robots in complexity terrains.

Suggested Citation

  • Zhengcai Cao & Dong Zhang & Biao Hu & Jinguo Liu, 2019. "Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator," Complexity, Hindawi, vol. 2019, pages 1-13, January.
    • Handle: RePEc:hin:complx:8030374
    DOI: 10.1155/2019/8030374
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    Cited by:

    1. T. O. Ayogu & O. O. Obe, 2021. "Modelling, Design and Kinematic Control Strategies for Snake-like Robot locomotion – A Review," International Journal of Research and Scientific Innovation, International Journal of Research and Scientific Innovation (IJRSI), vol. 8(2), pages 17-23, February.

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